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#ifndef RVIZ_DEFAULT_PLUGINS__TRANSFORMATION__TF_FRAME_TRANSFORMER_HPP_
#define RVIZ_DEFAULT_PLUGINS__TRANSFORMATION__TF_FRAME_TRANSFORMER_HPP_

#include <memory>
#include <string>
#include <vector>

#include <OgreVector.h>
#include <OgreQuaternion.h>

#include "rviz_common/transformation/frame_transformer.hpp"
#include "rviz_common/ros_integration/ros_node_abstraction.hpp"
#include "rviz_default_plugins/transformation/tf_wrapper.hpp"

#include "rviz_default_plugins/visibility_control.hpp"

namespace rviz_default_plugins
{
namespace transformation
{
class TFFrameTransformer : public rviz_common::transformation::FrameTransformer
{
public:
  RVIZ_DEFAULT_PLUGINS_PUBLIC
  TFFrameTransformer();

  RVIZ_DEFAULT_PLUGINS_PUBLIC
  explicit TFFrameTransformer(std::shared_ptr<TFWrapper> wrapper);

  ~TFFrameTransformer() override = default;

  RVIZ_DEFAULT_PLUGINS_PUBLIC
  void
  initialize(
    rviz_common::ros_integration::RosNodeAbstractionIface::WeakPtr rviz_ros_node,
    rclcpp::Clock::SharedPtr clock) override;

  RVIZ_DEFAULT_PLUGINS_PUBLIC
  void
  clear() override;

  RVIZ_DEFAULT_PLUGINS_PUBLIC
  std::vector<std::string>
  getAllFrameNames() const override;

  RVIZ_DEFAULT_PLUGINS_PUBLIC
  geometry_msgs::msg::PoseStamped
  transform(
    const geometry_msgs::msg::PoseStamped & pose_in,
    const std::string & target_frame) override;

  RVIZ_DEFAULT_PLUGINS_PUBLIC
  bool
  frameHasProblems(const std::string & frame, std::string & error) const override;

  RVIZ_DEFAULT_PLUGINS_PUBLIC
  rviz_common::transformation::TransformationLibraryConnector::WeakPtr
  getConnector() override;

  geometry_msgs::msg::TransformStamped
  lookupTransform(
    const std::string & target_frame,
    const std::string & source_frame,
    const tf2::TimePoint & time) const override;

  geometry_msgs::msg::TransformStamped
  lookupTransform(
    const std::string & target_frame,
    const tf2::TimePoint & target_time,
    const std::string & source_frame,
    const tf2::TimePoint & source_time,
    const std::string & fixed_frame) const override;

  bool
  canTransform(
    const std::string & target_frame,
    const std::string & source_frame,
    const tf2::TimePoint & time,
    std::string * error_msg) const override;

  bool
  canTransform(
    const std::string & target_frame,
    const tf2::TimePoint & target_time,
    const std::string & source_frame,
    const tf2::TimePoint & source_time,
    const std::string & fixed_frame,
    std::string * error_msg) const override;

  tf2_ros::TransformStampedFuture
  waitForTransform(
    const std::string & target_frame,
    const std::string & source_frame,
    const tf2::TimePoint & time,
    const tf2::Duration & timeout,
    tf2_ros::TransformReadyCallback callback) override;

  void
  cancel(
    const tf2_ros::TransformStampedFuture & ts_future) override;

private:
  std::shared_ptr<TFWrapper> tf_wrapper_;
};
}  // namespace transformation
}  // namespace rviz_default_plugins

#endif  // RVIZ_DEFAULT_PLUGINS__TRANSFORMATION__TF_FRAME_TRANSFORMER_HPP_
